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A really neat feature of Motorola's 68HC11 is the ADC (analog to digital converter). This is an 8-bit, 8-channel converter which is excellent for most robotic applications. In order to use this, there are a few steps:
1.) Turn the ADC on by poking a hexadecimal 80 to address 0x1039
2.) Wait a few micro-seconds
3.) Poke the number of the AD pin to address 0x1030 (say poke a 4 if you want the value of PE4, a 6 to get the value of PE6, etc.)
4.) Wait until bit7 at 0x1030 is set (WCC11 includes a special command for this called 'AD_delay()')
5.) Look at the correct register to see what the value is, here they are:
PIN 0x1030 REGISTER ADDRESS
0 0 0x1031
1 1 0x1032
2 2 0x1033
3 3 0x1034
4 4 0x1031 *
5 5 0x1032 *
6 6 0x1033 *
7 7 0x1034 *
* only available on 52-pin micros
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